Patents Assigned to UBTECH ROBOTICS CORP.
  • Patent number: 12080098
    Abstract: A method for training a multi-task recognition model includes: obtaining a number of sample images, wherein some of the sample images are to provide feature-independent facial attributes, some of the sample images are to provide feature-coupled facial attributes, and some of the sample images are to provide facial attributes of face poses; training an initial feature-sharing model based on a first set of sample images to obtain a first feature-sharing model; training the first feature-sharing model based on the first set of sample images and a second set of sample images to obtain a second feature-sharing model with a loss value less than a preset second threshold; obtaining an initial multi-task recognition model by adding a feature decoupling model to the second feature-sharing model; and training the initial multi-task recognition model based on the sample images to obtain a trained multi-task recognition model.
    Type: Grant
    Filed: December 27, 2021
    Date of Patent: September 3, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Yusheng Zeng, Jun Cheng, Jianxin Pang
  • Patent number: 12070856
    Abstract: A robot balance control method as well as a robot using the same and a computer readable storage medium are provided. In the method, a brand new flywheel model different from the existing flywheel model is created. In this flywheel model, the foot of the support leg of the robot is equivalent to the massless link of the flywheel model, while rest parts of the robot are equivalent to the flywheel of the flywheel model. Compared with the various models in the prior art, this flywheel model is more in line with the actual situation of the robot during the monoped supporting period. By controlling the posture of the foot of the support leg based on this flywheel model, a better balance effect can be achieved, which avoids the overturning of the robot.
    Type: Grant
    Filed: December 21, 2021
    Date of Patent: August 27, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Hongge Wang, Chunyu Chen, Yizhang Liu, Ligang Ge, Jie Bai, Xingxing Ma, Jiangchen Zhou
  • Patent number: 12053885
    Abstract: A robot control method includes: determining a planned capture point and a measured capture point of the robot so as to calculate a capture point error of the robot; obtaining positions of a left foot and a right foot of the robot, and a planned zero moment point (ZMP) of the robot so as to calculate desired support forces of the left foot and the right foot; calculating desired torques of the left foot and the right foot according to the capture point error, the desired support forces of the left foot and the right foot; obtaining measured torques of the left foot and the right foot so as to calculate desired poses of the left foot and the right foot; and controlling the robot to walk according to the desired poses of the left foot and the desired pose of the right foot.
    Type: Grant
    Filed: December 23, 2021
    Date of Patent: August 6, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Ligang Ge, Yizhang Liu, Chunyu Chen, Zheng Xie, Youjun Xiong
  • Patent number: 12051263
    Abstract: Human lying posture detections are disclosed. A human lying on a bed is detected by obtaining an image through a depth camera, detecting objects in the image and marking the objects in the image using 2D bounding boxes by deep learning, determining the human being in a lying posture in response to a width and a height of the 2D bounding box of the human meeting a predetermined condition, detecting one or more skin areas in the image and generating skin area 2D bounding boxes to mark each of the one or more skin areas using a skin detection algorithm, and determining the human being in the lying posture in response to the skin area 2D bounding boxes and the 2D bounding box of the bed meeting a predetermined positional relationship.
    Type: Grant
    Filed: June 30, 2021
    Date of Patent: July 30, 2024
    Assignees: FUTRONICS (NA) CORPORATION, UBTECH ROBOTICS CORP LTD
    Inventors: Chuqiao Dong, Dan Shao, Zhen Xiu, Dejun Guo, Huan Tan
  • Patent number: 12046008
    Abstract: A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.
    Type: Grant
    Filed: April 14, 2022
    Date of Patent: July 23, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Xiangbin Huang, Wenzhi Xu, Gaobo Huang
  • Patent number: 12005584
    Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
    Type: Grant
    Filed: September 29, 2021
    Date of Patent: June 11, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Hongge Wang, Chunyu Chen, Yizhang Liu, Ligang Ge, Jie Bai, Xingxing Ma, Jiangchen Zhou, Youjun Xiong
  • Patent number: 11992961
    Abstract: A pose determination method and a robot using the same are provided. The method includes: obtaining a two-dimensional code image collected by the camera of the robot and sensor data collected by the sensor of the robot, and determining mileage information of the robot within a predetermined duration, where the sensor data includes an acceleration and an angular velocity, determining a first pose of the camera based on two-dimensional code information recognized from the two-dimensional code image and a pose estimation function, and determining a second pose of the sensor based on the sensor data; obtaining a third pose by performing a tight coupling optimization based on the first pose and the second pose; and obtaining the pose of the robot by fusing the third pose and the mileage information. In such a manner, the accuracy of determining the pose of the robot in a complex scene can be improved.
    Type: Grant
    Filed: September 24, 2021
    Date of Patent: May 28, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Youfang Lai, Zhichao Liu, Mingqiang Huang
  • Patent number: 11996112
    Abstract: The present disclosure discloses a voice conversion method. The method includes: obtaining a to-be-converted voice, and extracting acoustic features of the to-be-converted voice; obtaining a source vector corresponding to the to-be-converted voice from a source vector pool, and selecting a target vector corresponding to the target voice from the target vector pool; obtaining acoustic features of the target voice output by the voice conversion model by using the acoustic features of the to-be-converted voice, the source vector corresponding to the to-be-converted voice, and the target vector corresponding to the target voice as an input of the voice conversion model; and obtaining the target voice by converting the acoustic features of the target voice using a vocoder. In addition, a voice conversion apparatus and a storage medium are also provided.
    Type: Grant
    Filed: October 30, 2020
    Date of Patent: May 28, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Ruotong Wang, Zhichao Tang, Dongyan Huang, Jiebin Xie, Zhiyuan Zhao, Yang Liu, Youjun Xiong
  • Patent number: 11983916
    Abstract: A relocation method and a mobile machine using the same are provided. The method includes: obtaining a global map and a current scan map of a target scene where a mobile machine is located, and generating a local sub-map based on the global map; obtaining a black boundary in the local sub-map, determining a length and a curve complexity of the black boundary, and determining a weight of the black boundary based on the length and the curve complexity of the black boundary; determining an estimated pose and a target black boundary based on the local sub-map and the current scan image, and obtaining a matching value between the current scan image and the local sub-map based on a weight of the target black boundary; and determining the estimated pose as a relocated pose of the mobile machine in response to the matching value being larger than a preset threshold.
    Type: Grant
    Filed: August 31, 2021
    Date of Patent: May 14, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Rui Guo, Zhichao Liu, Zhanjia Bi, Yongsheng Zhao
  • Patent number: 11983012
    Abstract: A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated.
    Type: Grant
    Filed: August 31, 2021
    Date of Patent: May 14, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Xingxing Ma, Chunyu Chen, Yizhang Liu, Ligang Ge, Hongge Wang, Jie Bai, Jiangchen Zhou, Zheng Xie
  • Patent number: 11969890
    Abstract: A control method and a control system using the same as are provided. The method includes: extracting a corresponding component data from a component data stream based on an application protocol registered by each of a plurality of applications and encapsulating a corresponding application data packet for the application in response to receiving the component data stream in a current control period; transmitting the corresponding application data packet to each of the applications; obtaining control data reported by each of the applications according to data reporting timing corresponding to the application; and generating a component control instruction for controlling each of the components according to the control data reported by each of the applications in the current control period and the application protocol registered by the application. In this manner, the orderly control of a smart devices within a limited control period can be achieved.
    Type: Grant
    Filed: January 26, 2022
    Date of Patent: April 30, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Ziyi Wang, Guoping Yang, Hao Dong
  • Patent number: 11945528
    Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.
    Type: Grant
    Filed: December 24, 2020
    Date of Patent: April 2, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Liang Huang, Hongyu Ding, Youjun Xiong
  • Patent number: 11941844
    Abstract: An object detection model generation method as well as an electronic device and a computer readable storage medium using the same are provided. The method includes: during the iterative training of the to-be-trained object detection model, the detection accuracy of the iteration nodes of the object detection model is sequentially determined according to the node order, and the mis-detected negative samples of the object detection model at the iteration nodes with the detection accuracy less than or equal to a preset threshold are enhanced. Then the object detection model is trained at the iteration node based on the enhanced negative samples and a first amount of preset training samples. After the training at the iteration nodes are completed, it returns to the step of sequentially determining the detection accuracy of the iteration nodes of the object detection model until the training of the object detection model is completed.
    Type: Grant
    Filed: August 17, 2021
    Date of Patent: March 26, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Yepeng Liu, Yusheng Zeng, Jun Cheng, Jing Gu, Yue Wang, Jianxin Pang
  • Patent number: 11940774
    Abstract: The present disclosure provides action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting at least a two-dimensional image of a to-be-imitated object; obtaining two-dimensional coordinates of each key point of the to-be-imitated object in the two-dimensional image and a pairing relationship between the key points of the to-be-imitated object; converting the two-dimensional coordinates of the key points of the to-be-imitated object in the two-dimensional image into space three-dimensional coordinates corresponding to the key points of the to-be-imitated object through a pre-trained first neural network model, and generating an action control instruction of a robot based on the space three-dimensional coordinates corresponding to the key points of the to-be-imitated object and the pairing relationship between the key points, where the action control instruction is for controlling the robot to imitate an action of the to-be-imitated object.
    Type: Grant
    Filed: December 8, 2020
    Date of Patent: March 26, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Miaochen Guo, Jingtao Zhang, Dong Wang, Shuping Hu, Jianxin Pang, Youjun Xiong
  • Patent number: 11938635
    Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.
    Type: Grant
    Filed: March 24, 2022
    Date of Patent: March 26, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Zhihao Zhang, Yizhang Liu, Jinliang Chen, Youjun Xiong
  • Patent number: 11941366
    Abstract: The present disclosure discloses a context-based multi-turn dialogue method.
    Type: Grant
    Filed: November 23, 2020
    Date of Patent: March 26, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Chi Shao, Dongyan Huang, Wan Ding, Youjun Xiong
  • Patent number: 11926052
    Abstract: A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.
    Type: Grant
    Filed: December 23, 2020
    Date of Patent: March 12, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Chunyu Chen, Yizhang Liu, Ligang Ge, Zheng Xie, Youjun Xiong, Jianxin Pang
  • Patent number: D1034731
    Type: Grant
    Filed: December 26, 2022
    Date of Patent: July 9, 2024
    Assignees: SHENZHEN YOUXIBING TECHNOLOGY CO., LTD., UBTECH ROBOTICS CORP LTD
    Inventors: Yiping Li, Guangchao Zhao, Ke Wen, Li Zhang
  • Patent number: D1035182
    Type: Grant
    Filed: March 29, 2022
    Date of Patent: July 9, 2024
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Mingming Ji, Xinshui Huang, Kun Yang
  • Patent number: D1038846
    Type: Grant
    Filed: July 14, 2023
    Date of Patent: August 13, 2024
    Assignees: UBTECH ROBOTICS CORP LTD, FUTRONICS (NA) CORPORATION
    Inventors: Sichao Zhong, Qianshan Li, Chengkun Zhang, Kun Xie, Huan Tan